The Path Planning for Mobile Robot Based on Voronoi Diagram

摘要

In order to get the shortest path of the mobile robot, Voronoi diagram has been introduced to the robot path planning in the paper. The paper uses the voronoi diagram method to model the work space, and obtained the global shortest path by the improved Dijkstra algorithm, besides, when dealing with the unknown static obstacles, the paper adopt one method of constructing the local Voronoi map of the environment, which can contribute to reduce computation time and satisfied the needs of robot's real-time path planning. Simulation results show that the method is simple and easy to implement.